From 8400f2c9bc8c5c545e27fe59f7cd689d4fb1a62b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Sat, 3 Apr 2021 19:56:02 +0200 Subject: [PATCH] FW attitude controller: add protection against division by zero in airspeed scaling Signed-off-by: Silvan Fuhrer --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 028bb3b3b5..47cf1f45b4 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -256,7 +256,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling() * * Forcing the scaling to this value allows reasonable handheld tests. */ - const float airspeed_constrained = constrain(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_max.get()); + const float airspeed_constrained = constrain(constrain(airspeed, _param_fw_airspd_min.get(), + _param_fw_airspd_max.get()), 0.1f, 1000.0f); _airspeed_scaling = (_param_fw_arsp_scale_en.get()) ? (_param_fw_airspd_trim.get() / airspeed_constrained) : 1.0f;